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高超声速飞行器(Hypersonic vehicle,HSV)再入过程中易发生舵面饱和现象,并且其动力学模型具有强烈不确定的特征,这导致其姿态控制系统的设计极富挑战性。针对舵面受限的非线性控制问题,提出外部Antiwindup系统结合二阶Terminal滑模控制律的设计方法,能够实现对气动舵面饱和的控制补偿,使HSV快速平稳地跟踪指令信号。其次,针对HSV的强不确定控制问题,提出自适应滑模干扰观测器(Adaptive sliding mode disturbance observer,ASMDO)的方法来对再入气动参数不确定及强外界干扰进行估计,此方法无需干扰界已知且学习参数少,适合实时控制。最后,再入姿态控制的仿真结果表明了该控制方法的有效性和强鲁棒性。
Hypersonic vehicle (HSV) reentry process is prone to rudder surface saturation, and its dynamic model has a strong uncertainty characteristics, which led to the design of its attitude control system is very challenging. Aiming at the nonlinear control problem with limited control surface, the design method of the external Antiwindup system combined with the second-order Terminal sliding mode control law is proposed, which can compensate the control of the rudder surface saturation and make the HSV track the command signal quickly and smoothly. Secondly, aiming at the problem of strong uncertain control of HSV, an adaptive sliding mode disturbance observer (ASMDO) is proposed to estimate the uncertainty of reentry aerodynamic parameters and strong external disturbances. Known and less learning parameters, suitable for real-time control. Finally, the simulation results of reentry attitude control show the effectiveness and strong robustness of this control method.